대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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- Pages.514-516
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- 1998
선소 정보를 이용한 로봇의 경로계획
The Path Planning for Mobile Robot Using the Line Segment Information
- Kim, Byung-Gon (Dept. of Electronic Eng. Sogang Univ.) ;
- Lee, Kwae-Hi (Dept. of Electronic Eng. Sogang Univ.)
- 발행 : 1998.11.28
초록
A Mobile Robot should be able to navigate safely in the workspaces without any additional human's helps. In this paper, a method to generate the safe path to avoid the unknown obstacles using the pre-knowledge of the workspaces was proposed. For the efficiency of the algorithm, it is proposed to model the obstacles as the line segments in numerical map, which can reduce the required memory size and give the simple forms. To make the environments map, we used the Hough transform and the sonar measurements is converted to the set of line segments by Hough transform. In this algorithm, the subgoals are generated to avoid the obstacles until a mobile robot arrives the final position using the proposed environmental model.
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